The Joycon controllers have motion control. Have you not seen the demos? There’s also a steering-wheel addon for Mario Kart, so I assume it still has tilt controls. And yes, the Dualshock 4 also has tilt controls.
You’re focusing on the shape of the Nintendo controllers, instead of the features. No, nothing looks like the N64 controller, because they made the first controller with an analog stick, so they thought people would want to be able choose to use the right or left hand for analog usage. And the Gamecube controller was a little odd-looking, but not that different from the Dualshock controller
D-pad: started by Nintendo on the NES (and technically the Game & Watch before that)
Facebuttons: the current ABXY layout was started on the SNES
Shoulder buttons: started by Nintendo on the SNES
Trigger: the first trigger was from the N64 controller
Analog stick: the first analog stick was on the N64 controller
But yes, Sony came up with the first controller with dual analog sticks, Sony has the first controller with two sets of shoulder buttons, and the Xbox was the first controller with dual triggers.
You can say that Nintendo hasn’t innovated on the controller for two evades, but no one else really has either.